Work Scope Display System

Abstract

To allow a person to visually recognize a work range of an automatically operating work machine from the outside of the automatically operating work machine.SOLUTION: A work range display system 1 includes a work range setting unit 16 and a display unit 40. The work range setting unit 16 sets the work range A of an automatically operating work machine 10. The display unit 40 displays the position of the work range A outside the automatically operating work machine 10 based on information on the work range A set by the work range setting unit 16.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a work range display system that displays the work range of an autonomously driven work machine. [Background technology]

[0002] For example, Patent Document 1 describes a technique for displaying the working range of a work machine (called the excavation range in the document) on a monitor inside the driver's cab of the work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-121280 Summary of the Invention [Problem to be solved by the invention]

[0004] With the technology described in this document, the working range of a work machine cannot be visually confirmed by a person from outside the work machine. Furthermore, while a working range is set for an automatically driven work machine (an automatically driven work machine), this working range is information and therefore cannot be visually confirmed by a person.

[0005] Therefore, an object of the present invention is to provide a work range display system that allows a person to visually recognize the work range of an autonomously driven work machine from outside the autonomously driven work machine. [Means for solving the problem]

[0006] The work range display system includes a work range setting unit and a display unit. The work range setting unit sets the work range of an autonomously driven work machine. The display unit displays the position of the work range on the outside of the autonomously driven work machine based on the information about the work range set in the work range setting unit. [Effects of the Invention]

[0007] With the above configuration, the working range of an autonomously driven work machine can be visually recognized by a person from outside the autonomously driven work machine. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a top view of a work range display system 1. [Figure 2] 1 when the non-automatically driven work machine 20 shown in FIG. 1 is remotely controlled. [Figure 3] 2 is a block diagram of the work area display system 1 shown in FIG. [Figure 4] FIG. 3 is a diagram showing a remote control monitor 27a shown in FIG. [Figure 5] FIG. 2 is a top view of the work area A shown in FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0009] The work range display system 1 will be described with reference to FIGS.

[0010] As shown in Figure 1, the work range display system 1 displays a work range A of an autonomously driven work machine 10. The work range display system 1 allows a person (such as a worker or operator) to visually recognize the work range A. The work range display system 1 comprises an autonomously driven work machine 10, an autonomously driven work machine position sensor 15 shown in Figure 3, a work range setting unit 16, a non-autonomously driven work machine 20 (see Figure 1), a non-autonomously driven work machine position sensor 25, a remote control unit 27, a controller 30, and a display unit 40.

[0011] As shown in FIG. 1, an autonomously driven work machine 10 is a work machine that performs work by autonomous driving. The autonomously driven work machine 10 is, for example, a construction machine that performs construction work, and may be, for example, a shovel or a crane (the same applies to the non-autonomously driven work machine 20). Below, we will explain the case where the autonomously driven work machine 10 is a shovel (the same applies to the non-autonomously driven work machine 20). The autonomously driven work machine 10 comprises a lower traveling body 11, an upper rotating body 12, and an attachment 13.

[0012] The lower traveling structure 11 allows the autonomously driven work machine 10 to travel. The lower traveling structure 11 is equipped with, for example, crawlers.

[0013] The upper rotating body 12 is mounted on the lower traveling body 11 so that it can rotate. The upper rotating body 12 is equipped with a cab 12a and a counterweight 12b. The cab 12a is the section where an operator can operate the autonomously driven work machine 10. When the autonomously driven work machine 10 is operating automatically, there is no need for the operator to sit in the cab 12a. The counterweight 12b is a weight used to balance the autonomously driven work machine 10 in the fore-and-aft direction.

[0014] The attachment 13 is a part that performs work. For example, the attachment 13 includes a boom 13a, an arm 13b, and a tip attachment 13c. The boom 13a is attached to the upper rotating body 12 so that it can be raised and lowered (rotated up and down). The arm 13b is attached rotatably to the boom 13a. The tip attachment 13c is provided at the tip of the attachment 13 and is rotatably attached to the arm 13b. The tip attachment 13c may be, for example, a bucket for scooping up earth and sand, a device for clamping objects (such as a grapple), or a device for crushing, excavating, etc. (such as a breaker).

[0015] The autonomously driven work machine position sensor 15 (see FIG. 3 ) detects the position of the autonomously driven work machine 10. The autonomously driven work machine position sensor 15 detects the position and orientation of a reference point for the autonomously driven work machine 10 relative to the work site. The reference point for the autonomously driven work machine 10 may be, for example, a specific point on the upper rotating body 12 or the undercarriage 11, or may be, for example, the attachment point (boom foot) of the boom 13a to the upper rotating body 12. The autonomously driven work machine position sensor 15 may perform detection using a positioning system (such as a satellite positioning system). The positioning system may be a satellite positioning system, such as a global navigation satellite system (GNSS). The positioning system may use a total station. The autonomously driven work machine position sensor 15 may be mounted on the autonomously driven work machine 10, or may be installed external to the autonomously driven work machine 10. The autonomously driven work machine position sensor 15 may detect a position based on a two-dimensional image or a range image (an image having distance information).

[0016] The work range setting unit 16 (see FIG. 3) sets a work range A for the automatically driven work machine 10. Details of the work range A will be given later.

[0017] The non-autonomously driven work machine 20 is a work machine different from the autonomously driven work machine 10. The non-autonomously driven work machine 20 operates according to the operation of an operator. The non-autonomously driven work machine 20 may be a work machine (a manned work machine) that is operated by an operator on board the non-autonomously driven work machine 20. As shown in FIG. 2, the non-autonomously driven work machine 20 may be a work machine (a remotely controlled work machine) that is operated by remote control using a remote control unit 27. As shown in FIG. 1, the non-autonomously driven work machine 20, like the autonomously driven work machine 10, comprises a lower traveling body 21, an upper rotating body 22, and an attachment 23. The upper rotating body 22 comprises a driver's cab 22a.

[0018] The non-autonomously driven work machine position sensor 25 (see FIG. 3) detects the position of the non-autonomously driven work machine 20. A specific example of the non-autonomously driven work machine position sensor 25 is similar to the autonomously driven work machine position sensor 15.

[0019] As shown in Figure 2, the remote control unit 27 is the part (remote control seat and its peripheral equipment, etc.) where the operator controls the non-automatically driven work machine 20 when the non-automatically driven work machine 20 is a remotely controlled work machine. The remote control unit 27 is equipped with a remote control monitor 27a. The remote control monitor 27a displays images captured by the non-automatically driven work machine 20 (for example, the driver's cab 22a) (see Figure 4). The operator of the remote control unit 27 controls the non-automatically driven work machine 20 while viewing the images on the remote control monitor 27a.

[0020] The controller 30 (see FIG. 3) is a computer that inputs and outputs signals, performs calculations (processing), stores information, and so on. For example, the functions of the controller 30 are realized by the calculation unit executing a program stored in the memory unit of the controller 30. The controller 30 controls the display unit 40. For example, the controller 30 may be able to communicate with at least one of the autonomously driven work machine 10 and the non-autonomously driven work machine 20 shown in FIG. 1. As shown in FIG. 3, the controller 30 may be able to communicate with at least one of the autonomously driven work machine position sensor 15, the work range setting unit 16, the non-autonomously driven work machine position sensor 25, and the remote control unit 27. For example, the controller 30 determines the display content of the display unit 40, controls the display position of the display unit 40, and so on.

[0021] Display unit 40 displays the position of work range A (see FIG. 1). Display unit 40 displays the position of work range A based on the information about work range A set in work range setting unit 16. Display unit 40 may also display information about work range A other than the position of work range A. As shown in FIG. 1, display unit 40 displays the position of work range A on the outside of autonomously driven work machine 10.

[0022] The display unit 40 may be, for example, an illumination device 40a, a monitor 40b (see FIG. 2), or an augmented reality device 40c. The controller 30 will be described below with reference to FIG.

[0023] As shown in FIG. 1, the illumination device 40a is a device that illuminates light onto the work site of the autonomously driven work machine 10. The illumination device 40a directly displays the position of the work area A on the work site. The illumination position (direction) of the illumination device 40a is controlled (adjusted) by instructions from the controller 30. The content of the illumination by the illumination device 40a may also be controlled by instructions from the controller 30. For example, the light emitted by the illumination device 40a may be light from a light bulb or laser light. The illumination device 40a may be a machine-mounted illumination device 40a1 or an on-site illumination device 40a2.

[0024] The machine-mounted irradiation device 40a1 is mounted on the autonomously operated work machine 10, and may be mounted on, for example, the upper rotating body 12, or may be mounted on, for example, the attachment 13. In the example shown in FIG. 1, the machine-mounted irradiation device 40a1 is disposed at the rear of the upper rotating body 12 (for example, at or near the counterweight 12b). In this example, the machine-mounted irradiation device 40a1 irradiates from the rear of the upper rotating body 12 toward the rear side of the upper rotating body 12 (the opposite side from the direction in which the attachment 13 protrudes relative to the upper rotating body 12). In this case, the light irradiated by the machine-mounted irradiation device 40a1 is not blocked by the attachment 13. The machine-mounted irradiation device 40a1 may irradiate from the upper rotating body 12 toward the front (the direction in which the attachment 13 protrudes relative to the upper rotating body 12) or toward the side. The machine-mounted irradiation device 40a1 may be configured to be able to irradiate the entire circumference (or approximately the entire circumference) of the upper rotating body 12.

[0025] The orientation (angle, irradiation direction) of this machine-mounted irradiation device 40a1 with respect to the upper revolving body 12 is variable. The vertical orientation of the machine-mounted irradiation device 40a1 with respect to the upper revolving body 12 is variable and is controlled by a command from the controller 30, for example.

[0026] The lateral (left-right) orientation of this machine-mounted irradiation device 40a1 relative to the upper revolving body 12 may be fixed or variable. The lateral orientation of the machine-mounted irradiation device 40a1 relative to the upper revolving body 12 may be variable only within a predetermined range, or may be variable over the entire circumference (360°). The lateral orientation of the machine-mounted irradiation device 40a1 relative to the work site is controlled by at least one of the rotation of the upper revolving body 12 relative to the lower traveling body 11 and the change in the lateral orientation of the machine-mounted irradiation device 40a1 relative to the upper revolving body 12.

[0027] When controlling the orientation of this machine-mounted irradiation device 40a1 relative to the upper rotating structure 12, the controller 30 may stop the autonomously driven work machine 10. In this case, control of the irradiation direction of the machine-mounted irradiation device 40a1 is easier than when the autonomously driven work machine 10 is not stopped, and the calculation load on the controller 30 can be reduced. The orientation of the machine-mounted irradiation device 40a1 relative to the upper rotating structure 12 may be controlled while the autonomously driven work machine 10 is operating. In this case, even when the autonomously driven work machine 10 is operating, the machine-mounted irradiation device 40a1 can reliably display the position of the work range A. As a result, for example, interference between the autonomously driven work machine 10 and objects around the autonomously driven work machine 10 (such as a non-autonomously driven work machine 20 or a worker) may be suppressed.

[0028] The on-site installed irradiation device 40a2 is provided outside the autonomously driven work machine 10. The on-site installed irradiation device 40a2 is provided at the work site. The on-site installed irradiation device 40a2 may be mounted on the non-autonomously driven work machine 20 (the non-autonomously driven work machine 20 may be included in the "work site"). The on-site installed irradiation device 40a2 may be provided in only one location, or in multiple locations. If the on-site installed irradiation device 40a2 is provided in only one location, the on-site installed irradiation device 40a2 cannot irradiate positions that are shaded by an object (such as the autonomously driven work machine 10). If the on-site installed irradiation devices 40a2 are provided in multiple locations, the range that can be irradiated by the on-site installed irradiation device 40a2 is wider than if the on-site installed irradiation device 40a2 is provided in only one location.

[0029] As shown in FIG. 2, the monitor 40b is provided outside the autonomously driven work machine 10. The monitor 40b is, for example, the remotely controlled monitor 27a. As shown in FIG. 4, the remotely controlled monitor 27a displays video of the work site captured from the non-autonomously driven work machine 20 (see FIG. 2) (for example, from the cab 22a). The monitor 40b superimposes a display indicating the work area A on this video of the work site. More specifically, the non-autonomously driven work machine position sensor 25 shown in FIG. 3 detects the position and direction of the non-autonomously driven work machine 20 shown in FIG. 2. The controller 30 unifies the coordinate system of the position and direction of the non-autonomously driven work machine 20, the coordinate system of the video of the work site captured from the cab 22a, and the coordinate system of the work area A (for example, unify them into the coordinate system of the work site). As shown in FIG. 4, the controller 30 calculates the position of the work area A in the video of the work site displayed on the monitor 40b. The monitor 40b then displays a display indicating the work area A superimposed on the image of the work site, so that a display indicating the position of the work area A is displayed at the position of the work area A in the actual (real) work site. Note that when the non-autonomously driven work machine 20 is remotely controlled, the position of the work area A may be displayed by the machine-mounted irradiation device 40a1 as shown in Fig. 1.

[0030] The augmented reality device 40c is a device that displays a display (for example, a display as shown in FIG. 4) that superimposes a display indicating the work area A onto the scenery of the actual work site or onto an image of the work site. The augmented reality device 40c may be, for example, smart glasses worn by the operator of the remote control unit 27 shown in FIG. 2. The augmented reality device 40c shown in FIG. 1 may be smart glasses worn by an operator on board a non-autonomous work machine 20 (man-operated work machine) or a worker at the work site. The augmented reality device 40c may be a tablet terminal or the like that displays the work area A superimposed onto an image of the work site. The augmented reality device 40c may be a device (such as a head-up display) that projects an image onto the cab 22a of the non-autonomous work machine 20 (man-operated work machine) on which the operator is riding.

[0031] (Work scope A) As described above, the display unit 40 displays the position of the work area A. This work area A is set, for example, as follows: [Example 1] The work area A may be the area (target area) where work on the work object O is planned to be performed by the autonomously driven work machine 10. The work object O may be soil, stone, wood, metal, a structure, or waste. [Example 1a] The work area A may be the area (capture area A1a) where the autonomously driven work machine 10 is planned to capture the work object O. For example, if the work object O is soil, the capture area A1a is the area where excavation of the soil will be performed, such as the area where a pile of soil exists. [Example 1b] As shown in FIG. 5, the work area A may be the area (release area A1b) where the autonomously driven work machine 10 is planned to release the work object O. For example, if the work object O is soil, the release area A1b is the area where soil will be discharged, such as the area where the bed of a transport vehicle exists.

[0032] [Example 2] The work range A may be the range (target trajectory, target movement path, etc.) that the autonomously driven work machine 10 is expected to pass through when it moves. "When the autonomously driven work machine 10 moves" may be, for example, at least one of when the lower running body 11 travels, when the upper rotating body 12 swings, and when the attachment 13 operates. The "movement" of the autonomously driven work machine 10 is included in the "work" of the autonomously driven work machine 10. [Example 2a] The work range A may be the range (swing range A2a) that the attachment 13 is expected to pass through when the autonomously driven work machine 10 swings, or it may be the range that the upper rotating body 12 is expected to pass through. For example, the swing range A2a may include the range that the attachment 13 is expected to pass through when the tip attachment 13c moves from the capture range A1a to the release range A1b with the work object O captured (when lifting and swinging). For example, the turning range A2a may include the range through which the attachment 13 is planned to pass when the tip attachment 13c moves from the release range A1b towards the capture range A1a with the work object O released (when making a return turn). [Example 2b] The working range A may also be the range through which the autonomously operated work machine 10 is planned to pass when it is traveling (target travel path).

[0033] (Setting work area A) The working range A may be set by teaching, or may be set by a method other than teaching (for example, by inputting a numerical value).

[0034] Teaching is performed, for example, as follows: An operator rides on the autonomous work machine 10 shown in Figure 1 and operates the autonomous work machine 10, or remotely controls the autonomous work machine 10 via remote control. For example, the operator operates the autonomous work machine 10 to place a specific part of the attachment 13 (for example, the tip of the attachment 13) at a specific position in the range that is to be set as the capture range A1a. Then, the range that is to be set as the work range A is determined based on the position where the specific part of the attachment 13 is placed.

[0035] Specifically, for example, the capture range A1a may be set as follows. Here, it is assumed that the capture range A1a is rectangular when viewed from above. In this case, for example, the operator operates the autonomously driven work machine 10 to position a specific portion of the attachment 13 at points Pa and Pc, which are diagonal corners of the capture range A1a. Then, the coordinates (xa, ya, za) of point Pa and the coordinates (xc, yc, zc) of point Pc are acquired. The coordinates of the midpoint Pm between points Pa and Pc are ((xa+xc) / 2, (ya+yc) / 2, (za+zc) / 2). Here, the fore-and-aft direction of the upper rotating body 12 (the direction in which the attachment 13 extends) when it is assumed that the upper rotating body 12 is facing the midpoint Pm is set to the direction in which two sides of the rectangular capture range A1a extend. In this case, the coordinates of the remaining two points (points Pb and Pd) of the rectangular capture range A1a are automatically determined. As a result, the position (coordinates) of the capture range A1a is determined. Note that if the capture range A1a is rectangular, three or more points may be taught. The capture range A1a does not have to be rectangular when viewed from above. The release range A1b may also be set by teaching, similar to the capture range A1a.

[0036] Furthermore, for example, the swing range A2a shown in Figure 5 may be set as follows. For example, an operator operates the autonomously driven work machine 10 to cause the autonomously driven work machine 10 to perform a lifting swing (or return swing). The trajectory that a specific part of the attachment 13 moves along at this time is set as a target trajectory. Then, assuming that the specific part of the attachment 13 moves along the target trajectory, the range through which the attachment 13 is expected to pass is set as the swing range A2a. Note that these methods of setting the working range A are just examples, and the working range A can be set in various ways.

[0037] (Display of the position of working area A) The display of the position of the work area A by the display unit 40 shown in Fig. 1 can be performed in various ways. The graphic indicating the position of the work area A displayed by the display unit 40 may be a graphic indicating a part of the work area A (for example, the center), a graphic indicating the periphery of the work area A (frame-shaped, annular, etc.), or a graphic indicating the entire interior (or substantially the entire) of the work area A. The graphic indicating the position of the work area A may be a dot, a line, a polygon, a circle, an ellipse, or a shape similar to these.

[0038] The display unit 40 may display the position of the center of the work area A. For example, the illumination device 40a may illuminate the center of the work area A. In this case, the controller 30 controls the orientation (illumination direction) of the illumination device 40a so that the illumination device 40a faces the center of the work area A. The monitor 40b (see FIG. 2) or the augmented reality device 40c may display the position of the center of the work area A. Specifically, the "center of the work area A" is, for example, the centroid of the work area A viewed from above and the area surrounding it. More specifically, if the work area A is a rectangular capture area A1a viewed from above, the center of the work area A is the midpoint Pm and the area surrounding it (for example, the center of a pile of earth and sand).

[0039] The display unit 40 may display the position of the outer periphery of the area of ​​the work area A. For example, if the work area A is polygonal when viewed from above, the display unit 40 may display a frame-shaped figure of this polygon (see FIG. 4). For example, if the work area A is circular or elliptical when viewed from above, the display unit 40 may display a ring-shaped figure of this circle or ellipse. The display unit 40 may display a figure showing the entire interior (or substantially the entire interior) of the area of ​​the work area A. More specifically, the display unit 40 may display a figure that fills in the area of ​​the work area A.

[0040] The display unit 40 may change the color or shape of the display indicating the position of the work range A according to certain conditions.

[0041] (Display of information about work area A other than the location of work area A) The display unit 40 may display information about the work area A other than the position of the work area A. The display unit 40 may change the manner of displaying the position of the work area A (whether or not to display, the color or shape of the display, etc.) based on information about the work area A other than the position of the work area A. The display unit 40 may display information about the work area A other than the position of the work area A separately from displaying the position of the work area A. Specific examples of displaying information about the work area A other than the position of the work area A are as follows.

[0042] (Display showing time until work begins for autonomously driven work machine 10) The display unit 40 may display an indication of the time remaining until the autonomously driven work machine 10 begins work. For example, the display unit 40 may display an indication of the time remaining until the autonomously driven work machine 10 begins work (for example, work on the work object O). The display unit 40 may display an indication of the time remaining until the autonomously driven work machine 10 begins moving (turning or traveling). For example, the display unit 40 may display numbers that indicate the time remaining until the autonomously driven work machine 10 begins work, in a countdown manner. For example, the display unit 40 may change the manner of display (whether to display, the color or shape of the display, etc.) that indicates the position of the work range A depending on the time remaining until the autonomously driven work machine 10 begins work.

[0043] Specifically, for example, if an automatically driven work machine 10 starts to move while a non-automatically driven work machine 20 is working within the capture range A1a, there is a risk of interference between the non-automatically driven work machine 20 and the automatically driven work machine 10. If the display unit 40 displays an indication of the time remaining until the automatically driven work machine 10 starts working, the operator of the non-automatically driven work machine 20 can take measures to prevent this interference from occurring.

[0044] (Display of information regarding the progress of work by the autonomously driven work machine 10) The display unit 40 may display information relating to the progress of work by the autonomously driven work machine 10. For example, when a non-autonomously driven work machine 20 and an autonomously driven work machine 10 are working in coordination, the display unit 40 displays information about the work of the autonomously driven work machine 10, improving convenience for the operator of the non-autonomously driven work machine 20.

[0045] Specifically, for example, when the autonomously driven work machine 10 is working to capture work objects O within the capture range A1a, the display unit 40 may display information regarding the amount of work objects O remaining within the capture range A1a. The display unit 40 may change the display mode (whether to display, the color or shape of the display, etc.) based on whether the amount of work objects O is equal to or less than a threshold. Note that the amount of work objects O may be monitored, for example, by an imaging device (not shown).

[0046] (Display of information regarding the operation of the autonomously driven work machine 10) For example, the display unit 40 may display whether or not the autonomously driven work machine 10 is operating (whether or not it is stopped). Specifically, for example, when the autonomously driven work machine 10 is operating, the display unit 40 may display an indication that the autonomously driven work machine 10 is operating. In this case, interference between the autonomously driven work machine 10 and non-autonomously driven work machines 20 or workers around the autonomously driven work machine 10 can be suppressed.

[0047] (Displayed only when the display execution conditions are met) The display unit 40 may perform display only when a display execution condition is satisfied. The display execution condition is set in the controller 30 based on the necessity of display by the display unit 40, and can be set in various ways.

[0048] By having the display unit 40 perform display only when the display execution conditions are satisfied, the calculation load on the controller 30 can be reduced. For example, if the display unit 40 is a machine-mounted irradiation device 40a1, the controller 30 needs to control the irradiation position of the machine-mounted irradiation device 40a1 in accordance with the operation of the autonomously driven work machine 10. By having the display unit 40 perform display only when the display execution conditions are satisfied, the calculation load on the controller 30 for this control can be reduced. For example, if the display unit 40 is a field-installed irradiation device 40a2, there is a possibility that the light emitted by the field-installed irradiation device 40a2 may be blocked by the autonomously driven work machine 10 or the non-autonomously driven work machine 20, resulting in the irradiation of a position unrelated to the work area A. By having the display unit 40 perform display only when the display execution conditions are satisfied, the possibility of the irradiation of a position unrelated to the work area A can be reduced. Furthermore, when the display unit 40 is the monitor 40b shown in Figure 4 and is the remote control monitor 27a, the display unit 40 displays only when the display execution conditions are met, making it easier to see the footage of the work site taken from the driver's cab 22a.

[0049] For example, the display execution conditions may include a state in which the non-autonomously driven work machine 20 shown in FIG. 1 should replenish the work object O in the capture range A1a (for example, replenish earth and sand in a pile of earth). For example, the display execution conditions may include a state in which the amount of work object O in the capture range A1a is equal to or less than a certain threshold (a first threshold). Furthermore, for example, the display execution conditions may include a state in which the non-autonomously driven work machine 20 is set to replenish the work object O in the capture range A1a. Specifically, for example, when the controller 30 receives a command (a pile of earth replenishment signal) indicating that the work object O is in the capture range A1a, the controller 30 may cause the display unit 40 to display the position of the capture range A1a. For example, when the non-autonomously driven work machine 20 has completed replenishment of the work object O, the controller 30 may receive a command (a replenishment completion signal) from the non-autonomously driven work machine 20 indicating that replenishment has been completed, and cause the display unit 40 to end the display.

[0050] For example, if the amount of work objects O exceeds a certain amount, for example, if a pile of earth and sand accumulates, it may become unnecessary to display the position of the capture range A1a. Therefore, the display execution condition may include that the amount of work objects O in the capture range A1a is equal to or less than a certain threshold (hereinafter referred to as a second threshold). Note that the second threshold is a value that is sufficiently greater than the first threshold.

[0051] (Example) A further specific example of the operation of the work range display system 1 will be described. Here, a case will be described in which an autonomously driven work machine 10 captures (e.g., excavates) a work object O in a capture range A1a through autonomous driving and releases (e.g., dumps earth) it to a transport vehicle in a release range A1b. While the autonomously driven work machine 10 is performing a task through autonomous driving, the non-autonomously driven work machine 20 performs "another task" (e.g., forming a pile of earth and sand or shaping a slope in a location different from the capture range A1a) in a location different from the location where the autonomously driven work machine 10 is performing the task. At this time, the operator of the non-autonomously driven work machine 20 may perform the "other task" while checking whether there are any work objects O in the capture range A1a. Here, when the amount of work objects O in the capture range A1a falls below a first threshold, the display unit 40 displays a message to that effect (a message indicating that the amount of work objects O in the capture range A1a has fallen below the first threshold). In this case, the operator can know that the amount of work objects O in the capture range A1a has fallen below the first threshold.

[0052] When there are no more (or almost no more) work objects O that the autonomously driven work machine 10 can capture, the autonomously driven work machine 10 stops. Specifically, when the amount of work objects O within the capture range A1a falls below a certain threshold (referred to as the third threshold), the autonomously driven work machine 10 stops. Note that the third threshold may be equal to the first threshold, or may be a value less than the first threshold. When the autonomously driven work machine 10 has stopped, the display unit 40 displays a message to that effect (a message indicating that the autonomously driven work machine 10 has stopped). In this case, the operator can know that the autonomously driven work machine 10 has stopped.

[0053] For example, upon seeing an indication that the work object O has fallen below the first threshold value and an indication that the autonomously driven work machine 10 has stopped, the operator moves the non-autonomously driven work machine 20 near the capture range A1a. Furthermore, through operation by the operator, a command (a pile of dirt replenishment signal) indicating that the work object O is to be replenished in the capture range A1a is sent to the controller 30 from the non-autonomously driven work machine 20 or the remote control unit 27 (see FIG. 2 ). The controller 30 then displays the position of the capture range A1a on the display unit 40. The operator can then visually confirm the position of the capture range A1a. For example, even if the capture range A1a is flat ground with no piles of dirt, the operator can visually confirm the position of the capture range A1a. Then, through operation by the operator, the non-autonomously driven work machine 20 replenishes the work object O in the capture range A1a (for example, by creating a pile of dirt).

[0054] Thereafter, the replenishment of the work object O into the capture range A1a is completed. At this time, a command (replenishment completion signal) indicating that the replenishment of the work object O into the capture range A1a is completed may be sent to the controller 30 from the non-autonomously driven work machine 20 or the remote control unit 27 (see FIG. 2) by operation of the operator or the like. Furthermore, the completion of the replenishment of the work object O into the capture range A1a may be detected by an imaging device (not shown) or the like. When the replenishment of the work object O into the capture range A1a is completed (or when the pile of earth and sand has become sufficiently high), the controller 30 ends the display on the display unit 40.

[0055] After the replenishment of the work object O into the capture range A1a is complete, the autonomously driven work machine 10 begins (resumes) work to capture the work object O in the capture range A1a. Before the autonomously driven work machine 10 starts work, the display unit 40 displays an indication of the time until the autonomously driven work machine 10 starts work. Also, before the autonomously driven work machine 10 starts work, the display unit 40 displays the direction in which the autonomously driven work machine 10 will turn when it starts work (turning range A2a). In this case, interference between the autonomously driven work machine 10 and objects around the autonomously driven work machine 10 (non-autonomously driven work machines 20 and workers) is reduced.

[0056] (Effects of the first invention) 1 has the following effects: The work range display system 1 includes a work range setting unit 16 (see FIG. 3) and a display unit 40.

[0057] [Configuration 1] The work range setting unit 16 (see Figure 3) sets the work range A for the autonomously driven work machine 10. The display unit 40 displays the position of the work range A outside the autonomously driven work machine 10 based on the information about the work range A set in the work range setting unit 16.

[0058] The above [Configuration 1] provides the following effects. The work range A of the autonomously driving work machine 10 is information such as coordinates, and cannot be recognized by people (operators, workers, etc.) as it is. Therefore, in the above [Configuration 1], the display unit 40 displays the work range A outside the autonomously driving work machine 10. This makes it possible for people to visually recognize the work range A of the autonomously driving work machine 10 from outside the autonomously driving work machine 10.

[0059] (Effects of the second invention) [Configuration 2] The display unit 40 (illumination device 40a) is a device that irradiates the work site of the automatically operated work machine 10 with light.

[0060] The above-mentioned [Configuration 2] allows a person at the work site to directly see the display on the display unit 40. Therefore, the position of the display unit 40 can be reliably seen by a person.

[0061] (Effect of the third invention) [Configuration 3] The display unit 40 (illumination device 40a) illuminates the center of the work area A.

[0062] With the above [Configuration 3], the display unit 40 (illumination device 40a) can be configured more simply than when it is necessary to illuminate the outer periphery of the work area A or the entire interior of the work area A.

[0063] (Effect of the fourth invention) [Configuration 4] The display unit 40 (machine-mounted illumination device 40a1) is mounted on the automatically driven work machine 10.

[0064] With the above [Configuration 4], there is no need to provide the display unit 40 in a location different from the autonomously driving work machine 10. This makes it possible to simply configure the work range display system 1. Note that when the work range display system 1 is equipped with the above [Configuration 4], components of the work range display system 1 other than the display unit 40 (such as the work range setting unit 16 (see FIG. 3)) may be located outside the autonomously driving work machine 10.

[0065] (Effect of the fifth invention) [Configuration 5] Display unit 40 (field-installed irradiation device 40a2) is provided outside of autonomously operated work machine 10.

[0066] The above [Configuration 5] allows for greater freedom in the display position of the display unit 40 (on-site installed irradiation device 40a2) compared to when the display unit 40 (machine-mounted irradiation device 40a1) is mounted on an automatically driven work machine 10.

[0067] (Effect of the sixth aspect of the invention) [Configuration 6] As shown in FIG. 2, a display unit 40 (for example, a monitor 40b) is provided in the remote control unit 27 of a remotely operated work machine (a non-autonomously operated work machine 20 that is remotely controlled).

[0068] The above [Configuration 6] makes it possible for the operator of the remotely controlled non-autonomously driven work machine 20 to visually recognize the work range A of the automatically driven work machine 10.

[0069] (Effect of the seventh invention) [Configuration 7] The work range A includes the range in which the automatically operated work machine 10 is scheduled to capture the work object O (capture range A1a).

[0070] The above [Configuration 7] allows a person to visually recognize the position of the capture range A1a.

[0071] As a result, the following effects may be obtained. For example, it may be possible to notify a person of the location where the work object O should be replenished. Furthermore, for example, it may be possible to notify a person of the area into which the autonomously driven work machine 10 will enter to capture the work object O. As a result, it may be possible to suppress interference between the autonomously driven work machine 10 and objects around the autonomously driven work machine 10 (non-autonomously driven work machines 20 and workers).

[0072] (Effect of the eighth aspect of the invention) [Configuration 8] As shown in FIG. 5, work range A includes the range (for example, turning range A2a) that autonomously operated work machine 10 is expected to pass through when moving.

[0073] Configuration 8 above makes it possible to notify people of how the autonomously driven work machine 10 will move. As a result, it is possible to reduce interference between the autonomously driven work machine 10 and objects around the autonomously driven work machine 10 (such as non-autonomously driven work machines 20 and workers).

[0074] (Effect of the ninth invention) [Configuration 9] The display unit 40 shown in FIG. 1 performs display only when a display execution condition set based on the necessity of display by the display unit 40 is satisfied.

[0075] The above [Configuration 9] can prevent the display unit 40 from displaying unnecessary information. As a result, for example, it may be possible to reduce the calculation load on a device that controls the display on the display unit 40 (for example, the controller 30 (see FIG. 3)). For example, it may be possible to prevent the display on the display unit 40 from becoming cluttered.

[0076] (Variation) The above embodiment may be modified in various ways. For example, the function, arrangement, shape, operation, etc. of each component of the above embodiment may be changed or only a portion of them may be performed. For example, the connections between the components shown in FIG. 3 may be changed. For example, thresholds, ranges, etc. may be constant, may be changed manually, or may be changed automatically in response to certain conditions. For example, the number of components may be changed, or some of the components may not be provided. For example, what has been described as multiple different components or parts may be combined into a single component or part. For example, what has been described as a single component or part may be provided as multiple different components or parts. Specifically, for example, the operation range setting unit 16 and the controller 30 may be provided separately or integrally. [Explanation of symbols]

[0077] 1. Work Scope Display System 10. Autonomous driving machinery 16 Work Scope Setting Section 20 Non-automatic operation machinery (remotely controlled operation machinery) 27 Remote Control Unit 40 Display section A. Scope of Work O Work object

Claims

1. a work range setting unit that sets a work range of the autonomously driven work machine; a display unit that displays the position of the work range on the outside of the autonomously driven work machine based on the information about the work range set in the work range setting unit; a controller that controls the display unit; Equipped with the controller causes the display unit to display an indication of the time remaining until work begins by automatic operation of the automatically operated work machine; Work scope display system.

2. 2. The work range display system according to claim 1, the controller causes the display unit to display an indication of the time remaining until the autonomously driven work machine starts working on the work object; Work scope display system.

3. 2. The work range display system according to claim 1, the controller causes the display unit to display an indication of the time remaining until the autonomously driven work machine starts moving; Work scope display system.

4. 2. The work range display system according to claim 1, the controller changes the manner in which the display unit displays the position of the work range according to the remaining time until the autonomously driven work machine starts work. Work scope display system.

5. 2. The work range display system according to claim 1, the work range includes a capture range in which the autonomously driven work machine is scheduled to capture a work object; Work scope display system.

6. The work range display system according to any one of claims 1 to 5, the display unit performs display only when a display execution condition set based on the necessity of display by the display unit is satisfied. Work scope display system.

7. A work range display system according to any one of claims 1 to 6, The display unit is a device that irradiates light onto a work site of the autonomously driven work machine. Work scope display system.

8. A work range display system according to claim 7, The display unit illuminates the center of the work range. Work scope display system.

9. A work range display system according to claim 7 or 8, The display unit is mounted on the autonomously driven work machine. Work scope display system.

10. A work range display system according to any one of claims 1 to 9, The display unit is provided outside the autonomously driven work machine. Work scope display system.

11. A work range display system according to any one of claims 1 to 6, The display unit is provided on a remote control unit of a remotely operated work machine. Work scope display system.

12. A work range display system according to any one of claims 1 to 11, the work range includes a range that the autonomously operated work machine is scheduled to pass through when moving. Work scope display system.

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